*

firmware/shared/hal_library.h

@@ -0,0 +1,14 @@
+#ifndef HAL_LIBRARY_H__
+#define HAL_LIBRARY_H__
+
+#if defined(STM32F4)
+#include "stm32f4xx_hal.h"
+#elif defined(STM32F0)
+#include "stm32f0xx_hal.h"
+#elif defined(STM32F1)
+#include "stm32f1xx_hal.h"
+#else
+#error "Unknown HAL library"
+#endif
+
+#endif //HAL_LIBRARY_H__

firmware/shared/nrf_stm32.h

@@ -0,0 +1,48 @@
+/*
+ * nrf_stm32.h
+ *
+ *  Created on: 13 ÿíâ. 2016 ã.
+ *      Author: Sergey
+ */
+
+#ifndef NRF_STM32_H_
+#define NRF_STM32_H_
+
+#include "board.h"
+#include "hal_library.h"
+#include "nrf24l01p/nrf.h"
+
+
+extern SPI_HandleTypeDef RADIO_SPI;
+
+using namespace radio_cpp;
+
+template<uint32_t CSN_port, uint16_t CSN_pin, uint32_t CE_port, uint16_t CE_pin, SPI_HandleTypeDef* SPI>
+class Nrf_stm : public nrf24::Module {
+public:
+	void csn_low() override {
+		HAL_GPIO_WritePin((GPIO_TypeDef*)CSN_port, CSN_pin, GPIO_PIN_RESET);
+	}
+	void csn_high() override {
+		HAL_GPIO_WritePin((GPIO_TypeDef*)CSN_port, CSN_pin, GPIO_PIN_SET);
+	}
+	void ce_low() override{
+		HAL_GPIO_WritePin((GPIO_TypeDef*)CE_port, CE_pin, GPIO_PIN_RESET);
+	}
+	void ce_high() override{
+		HAL_GPIO_WritePin((GPIO_TypeDef*)CE_port, CE_pin, GPIO_PIN_SET);
+	}
+	void ce_pulse() {
+		ce_high();
+		HAL_Delay(1);
+		ce_low();
+	}
+	void rw(const uint8_t* tx, uint8_t* rx, uint16_t length) override{
+		HAL_SPI_TransmitReceive(SPI, const_cast<uint8_t*>(tx), rx, length, HAL_MAX_DELAY);
+	}
+};
+
+typedef Nrf_stm<(uint32_t)RADIO_CSN_GPIO_Port, RADIO_CSN_Pin, (uint32_t)RADIO_CE_GPIO_Port, RADIO_CE_Pin, &RADIO_SPI> radio_t;
+
+
+#endif /* NRF_STM32_H_ */

firmware/shared/radio_protocol.h

@@ -0,0 +1,26 @@
+#ifndef radio_protocol_h__
+#define radio_protocol_h__
+
+#include <cstddef>
+
+#pragma pack(push, 1)
+struct RadioPacketHeader {
+	union {
+		uint8_t value;
+		struct {
+			uint8_t pipe_id : 4;
+			uint8_t is_idle : 1;
+			uint8_t reserved : 3;
+		};
+	};
+};
+
+template<size_t MaxPayloadSize = 31>
+struct RadioBuffer {
+	uint8_t payload_length;
+	RadioPacketHeader header;
+	uint8_t payload[MaxPayloadSize];
+};
+#pragma pack(pop)
+
+#endif // radio_protocol_h__

firmware/shared/syscalls.c

@@ -0,0 +1,119 @@
+/*
+ * syscalls.c
+ *
+ *  Created on: 15 θών 2015 γ.
+ *      Author: Sergey
+ */
+
+#include <stdlib.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include "hal_library.h"
+#include "board.h"
+
+extern UART_HandleTypeDef CONSOLE_UART;
+
+extern int errno;
+register char * stack_ptr asm("sp");
+
+caddr_t _sbrk(int incr) {
+	extern char end asm("end");
+	static char *heap_end;
+	char *prev_heap_end;
+
+	if (heap_end == 0)
+		heap_end = &end;
+
+	prev_heap_end = heap_end;
+	if (heap_end + incr > stack_ptr) {
+		errno = ENOMEM;
+		return (caddr_t) -1;
+	}
+
+	heap_end += incr;
+	return (caddr_t) prev_heap_end;
+}
+
+
+#ifndef __errno_r
+#include <sys/reent.h>
+#define __errno_r(reent) reent->_errno
+#endif
+
+
+int _write_r(struct _reent *r, int file, char * ptr, int len){
+  (void)r;
+  (void)file;
+  (void)ptr;
+
+  while (HAL_UART_GetState(&CONSOLE_UART) == HAL_UART_STATE_BUSY_TX ||
+		  HAL_UART_GetState(&CONSOLE_UART) == HAL_UART_STATE_BUSY_TX_RX)
+  {
+
+  }
+
+  //HAL_UART_Transmit_IT(&CONSOLE_UART, (uint8_t*)ptr, len);
+  HAL_UART_Transmit(&CONSOLE_UART, (uint8_t*)ptr, len, HAL_MAX_DELAY);
+
+  return len;
+}
+
+int _read_r(struct _reent *r, int file, char * ptr, int len)
+{
+  (void)r;
+  (void)file;
+  (void)ptr;
+  (void)len;
+  __errno_r(r) = EINVAL;
+  return -1;
+}
+
+int _lseek_r(struct _reent *r, int file, int ptr, int dir){
+  (void)r;
+  (void)file;
+  (void)ptr;
+  (void)dir;
+  return 0;
+}
+
+int _close_r(struct _reent *r, int file){
+    (void)r;
+    (void)file;
+    return 0;
+}
+
+int _open_r ( struct _reent *ptr, const char *file, int flags, int mode ){
+   int fd = -1;
+   return fd;
+}
+
+int _fstat_r(struct _reent *r, int file, struct stat * st){
+    (void)r;
+    (void)file;
+    memset(st, 0, sizeof(*st));
+    st->st_mode = S_IFCHR;
+    return 0;
+}
+
+int _isatty_r(struct _reent *r, int fd){
+    (void)r;
+    (void)fd;
+    return 1;
+}
+
+int _kill (int a, int b){
+	(void)a;
+	(void)b;
+	return 0;
+}
+
+int _getpid(int a){
+	(void)a;
+	return 0;
+}
+
+void _exit(int status){
+	for(;;);
+}